Addressed clang-tidy escapes

PointCloudLibrary · mvieth · Jan 17, 2023 · Nov 8, 2022 · Nov 8, 2022 · Nov 8, 2022
commit e6cb9617ea3a7dd13c5b588eacf5beb33ac18573
diff --git a/io/src/oni_grabber.cpp b/io/src/oni_grabber.cpp
@@ -412,7 +412,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr ONIGrabber::convertToXYZRGBPointCloud (
     const openni_wrapper::DepthImage::Ptr &depth_image) const
 {
   static unsigned rgb_array_size = 0;
-  static boost::shared_array<unsigned char> rgb_array((unsigned char*)nullptr);
+  static boost::shared_array<unsigned char> rgb_array(nullptr);
   static unsigned char* rgb_buffer = nullptr;
 
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
@@ -496,7 +496,7 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr ONIGrabber::convertToXYZRGBAPointCloud (
     const openni_wrapper::DepthImage::Ptr &depth_image) const
 {
   static unsigned rgb_array_size = 0;
-  static boost::shared_array<unsigned char> rgb_array((unsigned char*)nullptr);
+  static boost::shared_array<unsigned char> rgb_array(nullptr);
   static unsigned char* rgb_buffer = nullptr;
 
   pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);

diff --git a/io/src/openni2/openni2_video_mode.cpp b/io/src/openni2/openni2_video_mode.cpp
@@ -41,7 +41,7 @@ namespace pcl
       std::ostream&
       operator<< (std::ostream& stream, const OpenNI2VideoMode& video_mode)
       {
-        stream << "Resolution: " << (int)video_mode.x_resolution_ << "x" << (int)video_mode.y_resolution_ <<
+        stream << "Resolution: " << static_cast<int>(video_mode.x_resolution_) << "x" << static_cast<int>(video_mode.y_resolution_) <<
           "@" << video_mode.frame_rate_ <<
           "Hz Format: ";
 

diff --git a/io/src/openni2_grabber.cpp b/io/src/openni2_grabber.cpp
@@ -533,8 +533,8 @@ pcl::io::OpenNI2Grabber::convertToXYZPointCloud (const DepthImage::Ptr& depth_im
 
   float constant_x = 1.0f / device_->getDepthFocalLength ();
   float constant_y = 1.0f / device_->getDepthFocalLength ();
-  float centerX = ((float)cloud->width - 1.f) / 2.f;
-  float centerY = ((float)cloud->height - 1.f) / 2.f;
+  float centerX = (static_cast<float>(cloud->width) - 1.f) / 2.f;
+  float centerY = (static_cast<float>(cloud->height) - 1.f) / 2.f;
 
   if (std::isfinite (depth_parameters_.focal_length_x))
     constant_x =  1.0f / static_cast<float> (depth_parameters_.focal_length_x);
@@ -613,8 +613,8 @@ pcl::io::OpenNI2Grabber::convertToXYZRGBPointCloud (const Image::Ptr &image, con
   // Generate default camera parameters
   float fx = device_->getDepthFocalLength (); // Horizontal focal length
   float fy = device_->getDepthFocalLength (); // Vertcal focal length
-  float cx = ((float)depth_width_ - 1.f) / 2.f;  // Center x
-  float cy = ((float)depth_height_- 1.f) / 2.f; // Center y
+  float cx = (static_cast<float>depth_width_) - 1.f) / 2.f;  // Center x
+  float cy = (static_cast<float>(depth_height_)- 1.f) / 2.f; // Center y
 
   // Load pre-calibrated camera parameters if they exist
   if (std::isfinite (depth_parameters_.focal_length_x))
@@ -740,8 +740,8 @@ pcl::io::OpenNI2Grabber::convertToXYZIPointCloud (const IRImage::Ptr &ir_image,
 
   float fx = device_->getDepthFocalLength (); // Horizontal focal length
   float fy = device_->getDepthFocalLength (); // Vertcal focal length
-  float cx = ((float)cloud->width - 1.f) / 2.f;  // Center x
-  float cy = ((float)cloud->height - 1.f) / 2.f; // Center y
+  float cx = (static_cast<float>(cloud->width) - 1.f) / 2.f;  // Center x
+  float cy = (static_cast<float>(cloud->height) - 1.f) / 2.f; // Center y
 
   // Load pre-calibrated camera parameters if they exist
   if (std::isfinite (depth_parameters_.focal_length_x))

diff --git a/io/src/openni_grabber.cpp b/io/src/openni_grabber.cpp
@@ -628,8 +628,8 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const openni_wrapper::Image::Ptr
   //float constant = 1.0f / device_->getImageFocalLength (depth_width_);
   float constant_x = 1.0f / device_->getDepthFocalLength (depth_width_);
   float constant_y = 1.0f / device_->getDepthFocalLength (depth_width_);
-  float centerX = ((float)cloud->width - 1.f) / 2.f;
-  float centerY = ((float)cloud->height - 1.f) / 2.f;
+  float centerX = (static_cast<float>(cloud->width) - 1.f) / 2.f;
+  float centerY = (static_cast<float>(cloud->height) - 1.f) / 2.f;
 
   if (std::isfinite (depth_focal_length_x_))
     constant_x =  1.0f / static_cast<float> (depth_focal_length_x_);

diff --git a/io/src/real_sense_2_grabber.cpp b/io/src/real_sense_2_grabber.cpp
@@ -319,8 +319,8 @@ namespace pcl
   RealSense2Grabber::getTextureIdx (const rs2::video_frame & texture, float u, float v)
   {
     const int w = texture.get_width (), h = texture.get_height ();
-    int x = std::min (std::max (int (u*w + .5f), 0), w - 1);
-    int y = std::min (std::max (int (v*h + .5f), 0), h - 1);
+    int x = std::min (std::max (static_cast<int> (u*w + .5f), 0), w - 1);
+    int y = std::min (std::max (static_cast<int> (v*h + .5f), 0), h - 1);
     return x * texture.get_bytes_per_pixel () + y * texture.get_stride_in_bytes ();
   }
 

diff --git a/people/src/hog.cpp b/people/src/hog.cpp
@@ -403,7 +403,7 @@ pcl::people::HOG::grad1 (float *I, float *Gx, float *Gy, int h, int w, int x) co
     r = 1;
     In -= h;
   }
-  if( h<4 || h%4>0 || (std::size_t(I)&15) || (std::size_t(Gx)&15) )
+  if( h<4 || h%4>0 || (reinterpret_cast<std::size_t>(I)&15) || (reinterpret_cast<std::size_t>(Gx)&15) )
   {
     for( y = 0; y < h; y++ )
       *Gx++ = (*In++ - *Ip++) * r;

diff --git a/search/include/pcl/search/impl/flann_search.hpp b/search/include/pcl/search/impl/flann_search.hpp
@@ -70,7 +70,7 @@ template <typename PointT, typename FlannDistance>
 typename pcl::search::FlannSearch<PointT, FlannDistance>::IndexPtr
 pcl::search::FlannSearch<PointT, FlannDistance>::KdTreeMultiIndexCreator::createIndex (MatrixConstPtr data)
 {
-  return (static_cast<IndexPtr> (new flann::KDTreeIndex<FlannDistance> (*data, flann::KDTreeIndexParams (trees_))));
+  return (static_cast<IndexPtr> (new flann::KDTreeIndex<FlannDistance> (*data, static_cast<flann::KDTreeIndexParams> (trees_))));
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////

diff --git a/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp b/segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
@@ -126,7 +126,7 @@ pcl::ApproximateProgressiveMorphologicalFilter<PointT>::extract (Indices& ground
   default(none) \
   shared(A, global_min) \
   num_threads(threads_)
-  for (int i = 0; i < (int)input_->size (); ++i)
+  for (int i = 0; i < static_cast<int>(input_->size ()); ++i)
   {
     // ...then test for lower points within the cell
     PointT p = (*input_)[i];

diff --git a/tools/openni2_viewer.cpp b/tools/openni2_viewer.cpp
@@ -336,10 +336,10 @@ main (int argc, char** argv)
 
   unsigned mode;
   if (pcl::console::parse (argc, argv, "-depthmode", mode) != -1)
-    depth_mode = pcl::io::OpenNI2Grabber::Mode (mode);
+    depth_mode = static_cast<pcl::io::OpenNI2Grabber::Mode> (mode);
 
   if (pcl::console::parse (argc, argv, "-imagemode", mode) != -1)
-    image_mode = pcl::io::OpenNI2Grabber::Mode (mode);
+    image_mode = static_cast<pcl::io::OpenNI2Grabber::Mode> (mode);
 
   if (pcl::console::find_argument (argc, argv, "-xyz") != -1)
     xyz = true;